sampling is a critical problem in the observation of underwater phenomena using single or multiple AUV platforms. The determination of optimal paths and sampling strategies that effectively utilize available resources...
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ISBN:
(纸本)0780385438
sampling is a critical problem in the observation of underwater phenomena using single or multiple AUV platforms. The determination of optimal paths and sampling strategies that effectively utilize available resources is critical to these missions. Recent work performed jointly at RPI and AUSI on the development of adaptive sampling algorithms (ASA) utilizes information measures, estimation theory, and potential fields to direct the robots to the locations in space most likely to yield information about the sensed field variable of interest. Typical sensory information can consist of spatial distribution of one or more field variables, such as salinity, dissolved oxygen, temperature, current, etc. In order to test our algorithms we have created the MATCON simulation environment, an underwater experimental platform using solar AUVs, and a land-based experimental testbed using inexpensive wheeled robots.
This paper describes a computer simulation tool designed to aid in the development and evaluation of adaptive sampling algorithms for one or more autonomous underwater vehicles. The principal design goals of this tool...
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ISBN:
(纸本)0780385438
This paper describes a computer simulation tool designed to aid in the development and evaluation of adaptive sampling algorithms for one or more autonomous underwater vehicles. The principal design goals of this tool are to efficiently assess adaptive sampling algorithms using data generated from oceanographic numerical models, and to automate the processes of uploading and managing oceanographic data within the simulation tool. Oceanographic data is represented using the computer and model independent network Common Data Form format, a self-documenting data format which is widely used within the oceanographic community. The simulation tool is developed in MATLAB and Simulink, which are standard modeling and simulation tools used by control systems engineers as well as researchers across a wide variety of engineering disciplines. Use of the network Common Data Form enables the simulation tool to use oceanographic data from a variety of ocean modeling systems, while the use of MATLAB enables control algorithms and vehicle dynamics to be modular and easily modified.
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